ROS2 是一个非常庞大和复杂的开源项目，ROS2 jazzy版本就有108个子项目(git仓库)组成。ROS2采用vcstool工具来管理仓库，vcstool是一个Python脚本，可以用来管理多个git仓库，通常与.repos文件配合使用。
1.2. .repos
.repos文件用于管理多个 Git 仓库，它是一个 YAML 格式的清单文件，用于批量定义仓库的克隆路径、URL、分支等信息。
【举例】：ros2.repos的代码片段
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| repositories:
ament/ament_cmake:
type: git
url: https://github.com/ament/ament_cmake.git
version: jazzy
ament/ament_index:
type: git
url: https://github.com/ament/ament_index.git
version: jazzy
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vcstool工具是一个Python的库，在安装ROS2时，默认会安装此工具。可以通过以下命令来检查是否安装。
如果有显示对应的版本，则说明安装成功，否则表示未安装。
可以通过以下命令手动安装：
2. 创建工作空间并下载源码
2.1. 下载ros2.repos文件
方法一：
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git clone git@github.com:ros2/ros2.git
git checkout jazzy
cd ros2
cat ros2.repos
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方法二：
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mkdir -p ~/ros2/src
cd ~/ros2
wget https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos
cat ros2.repos
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2.2. 下载所有子仓库源码
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vcs import src < ros2.repos
vcs pull src
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说明：如果仓库下载和更新失败，可能是Github访问受限或网络部稳定，可以使用外网VPN然后再尝试。
检查是否包含关键仓库：
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| cd ~/ros2_ws/src
ls -d ros2/rcl* ros2/rmw ros2/rosidl eProsima/Fast-DDS
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3. ROS2源码目录结构
3.1. 完整目录结构
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| .ros2
└── src
├── ament
│ ├── ament_cmake
│ ├── ament_index
│ ├── ament_lint
│ ├── ament_package
│ ├── google_benchmark_vendor
│ ├── googletest
│ └── uncrustify_vendor
├── eProsima
│ ├── Fast-CDR
│ ├── Fast-DDS
│ └── foonathan_memory_vendor
├── eclipse-cyclonedds
│ └── cyclonedds
├── eclipse-iceoryx
│ └── iceoryx
├── gazebo-release
│ ├── gz_cmake_vendor
│ ├── gz_math_vendor
│ └── gz_utils_vendor
├── osrf
│ ├── osrf_pycommon
│ └── osrf_testing_tools_cpp
├── ros
│ ├── class_loader
│ ├── kdl_parser
│ ├── pluginlib
│ ├── resource_retriever
│ ├── robot_state_publisher
│ ├── ros_environment
│ ├── ros_tutorials
│ ├── urdfdom
│ └── urdfdom_headers
├── ros-perception
│ ├── image_common
│ ├── laser_geometry
│ └── point_cloud_transport
├── ros-planning
│ └── navigation_msgs
├── ros-tooling
│ ├── keyboard_handler
│ └── libstatistics_collector
├── ros-visualization
│ ├── interactive_markers
│ ├── python_qt_binding
│ ├── qt_gui_core
│ ├── rqt
│ ├── rqt_action
│ ├── rqt_bag
│ ├── rqt_console
│ ├── rqt_graph
│ ├── rqt_msg
│ ├── rqt_plot
│ ├── rqt_publisher
│ ├── rqt_py_console
│ ├── rqt_reconfigure
│ ├── rqt_service_caller
│ ├── rqt_shell
│ ├── rqt_srv
│ ├── rqt_topic
│ └── tango_icons_vendor
└── ros2
├── ament_cmake_ros
├── common_interfaces
├── console_bridge_vendor
├── demos
├── eigen3_cmake_module
├── example_interfaces
├── examples
├── geometry2
├── launch
├── launch_ros
├── libyaml_vendor
├── message_filters
├── mimick_vendor
├── orocos_kdl_vendor
├── performance_test_fixture
├── pybind11_vendor
├── python_cmake_module
├── rcl
├── rcl_interfaces
├── rcl_logging
├── rclcpp
├── rclpy
├── rcpputils
├── rcutils
├── realtime_support
├── rmw
├── rmw_connextdds
├── rmw_cyclonedds
├── rmw_dds_common
├── rmw_fastrtps
├── rmw_implementation
├── ros2_tracing
├── ros2cli
├── ros2cli_common_extensions
├── ros_testing
├── rosbag2
├── rosidl
├── rosidl_core
├── rosidl_dds
├── rosidl_defaults
├── rosidl_dynamic_typesupport
├── rosidl_dynamic_typesupport_fastrtps
├── rosidl_python
├── rosidl_runtime_py
├── rosidl_typesupport
├── rosidl_typesupport_fastrtps
├── rpyutils
├── rviz
├── spdlog_vendor
├── sros2
├── system_tests
├── test_interface_files
├── tinyxml2_vendor
├── tlsf
├── unique_identifier_msgs
├── urdf
└── yaml_cpp_vendor
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3.2. 核心模块(子仓库)
| 仓库 |
描述 |
克隆命令 |
ros2/ros2 |
元仓库 |
git clone -b jazzy https://github.com/ros2/ros2.git |
ros2/rcl |
ROS Client Library(C语言实现层) |
git clone -b jazzy https://github.com/ros2/rcl.git |
ros2/rclcpp |
ROS Client Library(C++接口层) |
git clone -b jazzy https://github.com/ros2/rclcpp.git |
ros2/rclpy |
ROS Client Library(Python接口层) |
git clone -b jazzy https://github.com/ros2/rclpy.git |
ros2/rmw |
(通信)中间件接口 |
git clone -b jazzy https://github.com/ros2/rmw.git |
eProsima/Fast-DDS |
Fast-DDS实现库 |
git clone -b jazzy https://github.com/eProsima/Fast-DDS.git |
eclipse-cyclonedds/cyclonedds |
CyCloneDDS实现库 |
git clone -b jazzy https://github.com/eclipse-cyclonedds/cyclonedds.git |
ros2/rosidl |
ROS接口定义 |
git clone -b jazzy https://github.com/ros2/rosidl.git |
ros2/ros2cli |
命令行工具 |
git clone -b jazzy https://github.com/ros2/ros2cli.git |
说明： ros2/rosidl负责统一管理ROS 2的接口定义（如.msg、.srv、.action），并通过代码生成工具将这些接口转换为多语言支持的代码（如C++、Python）和DDS兼容的IDL文件。
4. 其他操作
4.1. 编译源码
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cd ~/ros2
colcon build --symlink-install
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4.2. 提取.repos文件
将当前的所有子仓库提取.repos文件，方便多仓库管理及与其他项目成员协作。
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| cd ~/ros2
vcs export src > my_ros2.repos
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5. 参考文档
https://docs.ros.org/en/jazzy/Installation/Maintaining-a-Source-Checkout.html#download-the-new-source-code
